EP0009784B1

EP0009784B1 - System for driving dc motor

Info

Publication number: EP0009784B1
Application number: EP79103709A
Authority: EP
Inventors: Shigeki Kawada; Yoshiki Fujioka; Naoto Ohta
Original assignee: Fanuc Corp
Current assignee: Fanuc Corp
Priority date: 1978-10-02
Filing date: 1979-09-28
Publication date: 1983-01-12
Also published as: US4284932A; SU1102497A3; DE2964493D1; EP0009784A1; JPS5549990A

Description

Field of the invention

This invention relates generally to a system for driving a DC (Direct Current) motor and, more particularly, to a system for driving a DC motor associated with a field winding and driven by using a three-phase anti-parallel thyristor bridge circuit formed by thyristors.

Background of the invention

In recent years, DC motors having a field winding have been driven by using a three-phase anti-parallel thyristor bridge circuit, which has an advantage that the return of energy from the DC motor to the main circuit and the reverse rotation of the DC motor can be effected without change-over contacts. The three-phase anti-parallel bridge circuit comprises a first bridge circuit formed by six thyristors for supplying forward current to the DC motor and a second bridge circuit formed by six thyristors for supplying backward current to the DC motor. The first and second bridge circuits are connected in parallel to each other with the conducting directions of the thyristors between the two circuits opposite each other. The conducting state of a bridge circuit delivering energy to the DC motor is called a "converter operating state" while the conducting state of a bridge circuit obtaining energy from the DC motor is called an "inverter operating state". When the speed of the DC motor is decreased, the three-phase anti-parallel bridge circuit is changed from the converter operating state into the inverter operating state, and, after that, the anti-parallel bridge circuit is again changed into the converter operating state. During those changes of the state of the anti-parallel bridge circuit, the commutation between the thyristors of the first bridge circuit and those of the second . bridge circuit may fail, if the three-phase alternating voltage applied to the thyristors is decreased. As a result, an excess of current flows through the DC motor so that the DC motor may be damaged. Therefore, it is important to avoid the failure of the commutation of the thyristors between two bridge circuits connected anti-parallel to each other. The present invention relates to avoiding the failure of commutation in the case of an applied voltage drop.

Prior art of the invention

The system for driving a DC motor associated with a field winding and driven by using a three-phase anti-parallel bridge circuit of the prior art comprises a first means for controlling a current l_a flowing through the armature of the DC motor, and; a second means for controlling a current If flowing through the field winding. The second controlling means controls the current If by obtaining the feedback values of a voltage Eg of the armature of the DC motor and the current If, and by maintaining the maximum level of the current If at one level. This allows the voltage E. to be controlled so that it is increased when the current If is equal to a predetermined current l_a, which is defined as an "armature control range" (or a "constant-torque range"). In the subsequent range the voltage E, remains at one level when the current If is less than current l_o, which is defined as a "field control range" of a "constant-power range".
However, in the above-mentioned system of the prior art (Technische Rundschau Vol 67, No. 2, 14 January 1975, Bern), when the input three-phase alternating voltage applied to the anti-parallel bridge circuit is decreased in a case where the speed of the DC motor is decreased, the commutation between two bridge circuits connected anti-parallel to each other may fail, and the DC motor may be damaged. This is because the voltage Eg of the armature is not decreased, even when the input voltage applied to the anti-parallel bridge circuit is decreased.

Object and summary of the invention

It is a principal object of the present invention to provide a system for driving a DC motor associated with a field winding and driven by using a three-phase anti-parallel bridge circuit formed by thyristors, wherein the commutating between the thyristors will not fail even when the three-phase alternating voltage applied to the anti-parallel bridge circuit is decreased in a case where the speed of the DC motor is decreased.
According to the present invention, there is provided a system for driving a DC motor having a field winding and driven by using a three-phase anti-parallel thyristor bridge circuit comprising a first means for controlling the armature current l_a flowing through the armature of the DC motor and a second means for controlling the field current If flowing through the field winding by using feedback values of the armature voltage E_a of the armature and the field current If and by changing the level of the field current If in accordance_' with a three-phase alternating voltage V_ae applied to the three-phase anti-parallel thyristor bridge circuit. In the system, when the three phase alternating voltage V_ac is decreased lower than a predetermined value V_o, the field current If is decreased. As a result, the armature voltage Eg is also decreased.
The present invention will be more clearly understood from the following description with reference to the accompanying drawings.

Brief description of the drawings

Fig. 1 is a block diagram illustrating an embodiment of the system for driving a DC motor of the present invention;
Fig. 2 is a detailed circuit diagram of the field control part X of Fig. 1, and;
Figs. 3A through 3E are graphs for explaining the operatipn of the system of Fig. 1.

Preferred embodiment of the invention

Referring to Fig. 1, a DC motor 1 associated with a field winding 2 is driven by using a three-phase anti-parallel bridge circuit 3 formed by two bridge circuits 3A and 3B, for supplying a forward current and a backward current, respectively, to an armature 1' of the DC motor 1. Each of the bridge circuits 3A and 3B, which are connected anti-parallel to each other, is composed of six thyristors. A three-phase alternating voltage V_ae is supplied to the bridge circuits 3A and 3B through an input circuit 4. The speed of the DC motor 1 is controlled by two control loops, one of which controls a current l_a flowing through the armature 1 of the DC motor 1, while the other controls a current If flowing through the field winding 2.
The former of the above-mentioned two control loops will now be explained. First of all, the difference between the voltage of a velocity indication signal "a" and that of a velocity feedback signal N generated from a tacho-generator 5 is amplified by an amplifier 6. It should be noted, that the tacho-generator 5 is connected to the armature 1'. Next, the difference between the output voltage "b" of the amplifier 6 and that of a current detecting circuit 7 is amplified by an amplifier 8. Here it should be noted, that the current detecting circuit 7 amplified the current I_a detected by a current detector 7a, which is arranged between the armature 1' and the three-phase anti-parallel bridge circuit 3. Finally, an output signal "c" of the amplifier 8 is applied to a phase control circuit 9 as a command for enlarging or reducing phase angles. Firing pulses generated from gate circuits 10A and 10B, commonly controlled by the phase control circuit 9, are supplied to the gates of the thyristors of the bridge circuits 3A and 3B.
The second loop of the above-mentioned control loops will now be explained. A voltage E_a detected by a voltage detector 11 a is supplied to a voltage detecting circuit 11, which produces a negative signal. The current If detected by a current detector 12a is supplied to a current detecting circuit 12, which- produces a negative signal. A field setting circuit 13 produces a positive signal whose voltage is dependent upon the voltage V_ac to the three-phase anti-parallel bridge circuit As a result, a field control circuit 14 integrates the sum of the three signals generated from the three circuits 11, 12 and 13, and the circuit 14 produces an analog voltage. The analog voltage is applied to a phase control circuit 15 as a command for enlarging or reducing phase angles. As a result, firing pulses generated from a gate circuit 16 controlled by the phase control circuit 15 are supplied to the gates of the thyristors of a bridge circuit 17. The voltage V_ac is supplied to the circuit 17 through a transformer 18. Thus, the current If flowing in the field winding 2 is controlled by a field control part X indicated in Fig. 1.
Fig. 2 is a detailed circuit diagram of the field control part X of Fig. 1. In Fig. 2, the voltage detecting circuit 11 includes a rectifier 21 formed by a diode bridge for rectifying the voltage E_a, a smoothing circuit 22 formed by resistors and a capacitor for smoothing the output of the rectifier 21, a differential amplifier 23 for amplifying the output of the smoothing circuit 22 and an amplifier 24 for amplifying the output of the differential amplifier 23. The circuit 11 transmits a negative signal S1 to the field control circuit 14. The current detecting circuit 12 includes a smoothing circuit 25 formed by a resistor and a capacitor for smoothing the current If and an amplifier 26 for amplifying the output of the smoothing circuit 25. The circuit 12 transmits a negative signal S2 to the field control circuit 14: The field setting circuit 13 includes a transformer 27 to whose primary winding is applied the input voltage V_ac, a rectifier 28 for rectifying the output of the secondary winding of the transformer 27, resistors 29, 30, 30' and 31 and a diode 32. The values of resistors 29, 30, 30' and 31 are predetermined so that the diode 32 is not conductive when the voltage V_ac is equal to or higher than a predetermined value V_o, while the diode 32 conducts when the voltage V_ac is lower than the predetermined value V_o. When the diode 32 is conductive, a voltage at P_o coincides with a voltage at P_I. In other words, when the voltage V_ac becomes lower than the predetermined value V_a, the voltage of the positive signal S3 generated from the circuit 13 becomes low. The field control circuit 14 includes an integrator 34 for integrating the sum of the three signals S1, S2 and S3 and an amplifier 35 for amplifying the output of the integrator 34. The above-mentioned three signals S1, S2 and S3 are balanced in the steady state of the DC motor 1. However, when the voltage V_ac is decreased, the voltage of the signal S3 is also decreased, while the voltages of the signals S1 and S2 are increased. In other words, when the voltage V_ac becomes lower than the predetermined value V_a, the current If flowing through the field winding 2 (Fig. 1) is decreased. As a result, the voltage E_a of the armature 1' (Fig. 1) is also decreased, since the voltage E_a is denoted by

E_a=(the field magnetic flux ø)
x(the speed N of the DC motor 1) where
φ is in proportion to the current If.

Figs. 3A through 3E are graphs for explaining the operation of the system of Fig. 1. In the steady state, wherein the signals S1, S2 and S3 (Fig. 2) are balanced, the voltage Ea and the current If are controlled in such a manner that the exhibit curves as illustrated in Fig. 3A (line X1) and Fig. 3B (line Y1), respectively. In the constant-torque range I, in which the speed of the DC motor 1 is relatively low, the current If remains at one level I_o, for example, 6.8A, while the level of the voltage E_a is changed according to the speed N of the DC motor 1. In the constant-power range II, in which the speed of the DC motor 1 is relatively high, the level of the voltage E_a remains at one level E_o, for example, 220 V, while the level of the current If is changed according to the speed N. When the voltage V_ac becomes lower than the predetermined value V_o, for example, 200 V, the voltages of the signals S1, S2 and S3 also become low. Therefore, the current If is decreased as illustrated in Fig. 3A (broken line X2) and accordingly, the voltage E_a is also decreased as illustrated in Fig. 3B (broken line Y2). In other words, the voltage Eg of the armature 1' is decreased when the voltage V_ac becomes lower than the predetermined value V_o, as illustrated in Fig. 3C. On the other hand, the current I_a flowing through the armature 1' of the DC motor 1 remains at one level, which is dependant upon a load condition of the DC motor 1, as illustrated in Fig. 3D in spite of the speed N. Therefore, the output power P of the DC motor 1 is changed in accordance with the change of the voltage E_a of the armature 1', as illustrated in Fig. 3E.
As explained hereinbefore, the system for driving a DC motor according to the invention has the advantage that commutation between the thyristors will not fail even when the three-phase alternating voltage applied to the anti-parallel bridge circuit is decreased in the case where the speed of the DC motor is decreased.

Claims

1. A system for driving a DC motor (1) having a field winding (2) and driven by using a three-phase anti-parallel thyristor bridge circuit (3), comprising

a first means (7, 7a, 8, 9, 10A, 10B) for controlling the armature current (I-a) flowing through the armature (1') of said DC motor and;

a second means (11 a, 11, 12a, 12-16) for controlling the field current (If) flowing through said field winding by using fed back values of the armature voltage (Ea) of said armature and said field current (If), characterized in that,

the level of said field current (if) is changed in accordance with a three-phase alternating voltage (Vac) applied to said three-phase anti-parallel thyristor bridge circuit, whereby, when said three-phase alternating voltage decreases to a value lower than a predetermined value, said field current (l_f1 is decreased so that said armature voltage (E_a) is decreased.

2. A system as set forth in claim 1, wherein said second controlling means includes a first circuit (11 11 a) for detecting said armature voltage (E_a), a second circuit (12 12a) for detecting said field current (If), a field setting circuit (13) for setting the maximum level of said field current, which maximum level is dependent upon said three-phase alternating voltage, a field control circuit (14) for integrating the sum of two negative signals generated from said first and second circuits and a positive signal generated from said field setting circuit, the integrated signal being used for controlling said field current.

3. A system as set forth in claim 2, wherein said field setting circuit (13) includes a transformer (27) for receiving said three-phase alternating voltage, a rectifier (28) for rectifying the output of said transformer, a voltage divider (29, 30, 30') for dividing the output of said rectifier and a diode (32) arranged between said voltage divider and the output point (P_o) of said field setting circuit, said diode not being conductive when said three-phase alternating voltage is equal to or higher than said predetermined value, while said diode being conductive when said three-phase alternating voltage is lower than said predetermined value.

4. A system as set forth in claim 2, wherein said first detecting circuit (11 11 a) includes a rectifier (21) for rectifying said armature voltage (E_a), a smoothing circuit (22) for smoothing the output of said rectifier, a differential amplifier (23) for amplifying the output of said smoothing circuit and an amplifier (24) for amplifying the output of said differential amplifier, the output of said amplifier serving as the output of said first detecting circuit.

5. A system as set forth in claim 2, wherein said second detecting circuit (12 12a) includes a smoothing circuit (25) for smoothing said field current (If) and. an amplifier (26) for amplifying the output of said smoothing circuit, the output of said amplifier serving as the output of said second detecting circuit.